Rubber tapping robot

Abstract

The embodiment of the invention provides a rubber tapping robot which comprises a robot body, the robot body comprises a leg-foot type moving chassis, a main machine body and a mechanical arm, the leg-foot type moving chassis is installed at the bottom of the main machine body, the mechanical arm is installed on the side portion of the main machine body, and a control system is arranged in the main machine body; the control system is in control connection with the leg-foot type movable chassis and the mechanical arm; the rubber tapping mechanism is installed at the free end of the mechanical arm, and the mechanical arm drives the rubber tapping mechanism to move for rubber tapping. The leg-foot type movable chassis is a key part for walking of the robot, the robot can stably walk on complex terrains (such as mountain forest slope terrains) due to the design, the walking difficulty of wheel type and crawler type robots on the terrains is overcome, and tracks do not need to be laid for the robots in advance. The mechanical arm is installed on the side portion of the main machine body and used for driving the rubber tapping mechanism to conduct rubber tapping operation, so that the rubber tapping mechanism can accurately reach the position where rubber tapping is needed.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a rubber tapping robot. Background Art

[0002] As an automated intelligent rubber-tapping equipment, the rubber-tapping robot belongs to the field of intelligent agricultural machinery in the direction of agricultural automation. At present, the main movement modes of rubber-tapping robots are divided into wheeled, crawler, and track types, among which the track type can be divided into ground track and air track suspension types.

[0003] Since the terrain of the main natural rubber planting areas in my country is relatively complex, the terrain in planting areas such as Yunnan and Guangdong is mainly dominated by mountain slopes. For most mountain terrains, it is difficult for ground-mobile rubber tapping robots such as wheeled or crawler-type to walk normally. At the same time, the chassis of some wheeled robots and crawler-type robots are relatively low, making it difficult to flexibly shuttle in the rubber forests in mountain terrains, and it is not easy to achieve a large degree of obstacle crossing. The ground track type in the track-type mobile rubber tapping machine is mainly to arrange and install a track mechanism in the rubber garden to provide a walking track for the movement of the rubber tapping equipment, so that the rubber tapping equipment can achieve autonomous movement and automatic rubber tapping operations in the rubber garden. If a ground track or an aerial track is laid in the mountain terrain, the problem of ground slope and some obstacles can be solved, but the branches in the rubber forest are crisscrossed, and the track robot has the problem of insufficient reliability, and the fallen branches are easy to damage the track or affect the walking of the track robot. In addition, the price of laying the track is relatively expensive and the track needs to be maintained on a daily basis. Rubber farmers are unwilling to spend high track laying and maintenance costs.

[0004] Therefore, it is necessary to provide a new rubber tapping equipment to overcome the above-mentioned defects of the existing wheeled, crawler and track-type rubber tapping robots. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a rubber tapping robot that can solve the technical problem of walking difficulties in existing rubber tapping robots.

[0006] The present application embodiment provides a rubber tapping robot, comprising:

[0007] The robot body comprises a leg-foot mobile chassis, a main body and a mechanical arm, wherein the leg-foot mobile chassis is installed at the bottom of the main body, the mechanical arm is installed at the side of the main body, and a control system is arranged in the main body, and the control system is control-connected with the leg-foot mobile chassis and the mechanical arm;

[0008] The rubber tapping mechanism is installed at the free end of the mechanical arm, and the rubber tapping mechanism is driven by the mechanical arm to move to tap the rubber.

[0009] In the above implementation process, in the robot main body structure, the leg-foot mobile chassis is the key part of the robot walking, which can be two-legged, four-legged, six-legged or more-legged, and can simulate the walking mode of people or animals. This design enables the robot to walk stably on complex terrain (such as mountain slope terrain), overcomes the walking difficulties of wheeled and crawler robots on these terrains, and does not need to lay tracks for them in advance. The mechanical arm is installed on the side of the main body, used to drive the rubber tapping mechanism to perform rubber tapping operations, and the design of the mechanical arm enables the rubber tapping mechanism to accurately reach the position where rubber tapping is required. The main body, as the main part of the robot, is internally provided with a control system, and the control system is responsible for controlling the movement of the leg-foot mobile chassis and the movement of the mechanical arm, thereby realizing the function of autonomous walking and automatic rubber tapping of the rubber tapping robot. When specifically set, the control end of the rubber tapping mechanism can also be integrated into the control system, and the control system is uniformly coordinated and controlled to achieve more accurate rubber tapping operations.

[0010] In some implementations, the control system includes a dynamic balance control module, and the center of gravity and support points of the robot body are adjusted by the dynamic balance control module to maintain the balance of the robot body.

[0011] In the above implementation process, the dynamic balance control module can monitor the posture and position of the robot body in real time, and maintain its balance by adjusting the center of gravity and support points of the robot, which helps the robot to maintain stability in complex terrain and dynamic environments, and avoid failures or accidents caused by loss of balance. This enables the rubber tapping robot to better adapt to different terrains and operating environments. For example, in mountain slope terrain, the robot can adjust its posture more flexibly, maintain balance and successfully complete the task. At the same time, the improved stability of the robot means that the safety of the rubber tapping operation has also been improved. The robot can reach the location where rubber tapping is required more accurately, improve rubber tapping efficiency, and reduce losses caused by improper operation.

[0012] In some implementations, the control system includes a motion planning module, and the motion planning module plans a reasonable gait and walking path according to the walking requirements of the robot body according to terrain information.

[0013] In the above implementation process, the motion planning module can plan a reasonable gait and walking path according to the terrain information and the walking needs of the robot body, which helps the robot to cross complex terrain in the best way, reduce unnecessary walking and energy consumption, and thus improve walking efficiency. At the same time, the addition of the motion planning module makes the rubber tapping robot more autonomous. The robot can make autonomous decisions based on real-time terrain information and walking needs, and select the optimal walking path and gait, thereby improving the intelligence level of the robot. Furthermore, through reasonable motion planning, the robot can avoid falling into dangerous terrain or colliding with other obstacles, which helps to improve the safety and reliability of the robot and ensure the smooth progress of the rubber tapping operation.

[0014] In some implementations, the robotic arm includes a holding and supporting robotic arm and a rubber tapping robotic arm, the rubber tapping mechanism is installed on the rubber tapping robotic arm, the holding and supporting robotic arm is installed with a holding and supporting mechanism, and the holding and supporting mechanism is used to hold the rubber tree tightly.

[0015] In the above implementation process, the holding and supporting mechanical arm provides a stable support point for the rubber tapping mechanical arm, so that the rubber tapping mechanical arm can focus more on the rubber tapping operation without worrying about the interruption or error of the operation caused by unstable support, which greatly improves the operation efficiency and reduces the time wasted by repeatedly adjusting the support point. At the same time, the holding action of the holding and supporting mechanical arm can ensure the stability of the rubber tree during the operation and avoid the rubber tapping error caused by the shaking of the rubber tree.

[0016] In some embodiments, the holding mechanism includes a clamp and a force sensor, and the force sensor is used to monitor the clamping force of the clamp on the rubber tree, so that the clamp can adapt to adjust the clamping force on the rubber tree.

[0017] In the above implementation process, through real-time monitoring of the force sensor and automatic adjustment of the clamp, it can be ensured that the clamping force of the rubber tree is always kept within an appropriate range, which helps to improve the stability of the clamping and ensure that the robot will not shake or fall off due to unstable clamping during operation. In addition, the use of the force sensor enables the clamp to accurately control the clamping force, avoiding damage to the rubber tree caused by excessive clamping force, which is of great significance for protecting the rubber tree and extending its service life.

[0018] In some embodiments, the surface of the clamp for clamping the rubber tree is provided with a flexible material layer.

[0019] In the above implementation process, the flexible material layer can reduce the pressure and friction when the clamp is in direct contact with the rubber tree, and can reduce the pressure of the clamp on the rubber tree, thereby reducing the risk of damage to the bark, which is crucial for protecting the rubber tree and maintaining its healthy growth. In addition, the flexible material layer can increase the contact area and friction between the clamp and the rubber tree, so that the clamp can hold the rubber tree more stably during operation, which helps to reduce operation interruptions and errors caused by shaking or falling off.

[0020] In some embodiments, the tapping mechanism includes a visual sensor and a laser sensor. The visual sensor is used to capture image information of the surface of the rubber tree and feed it back to the control system, and the laser sensor is used to measure the contour change information of the tapping line and feed it back to the control system.

[0021] In the above implementation process, the combined use of visual sensors and laser sensors enables the rubber tapping robot to more accurately identify the location of the tapping line, the starting point of the tapping, and the contour changes on the surface of the tree trunk, which helps to improve work efficiency, reduce errors and waste, and improve the accuracy of the tapping operation. The automated rubber tapping robot can reduce manual intervention and reduce labor costs. At the same time, since the robot can work continuously and stably, it can also improve the continuity and reliability of the tapping operation.

[0022] In some embodiments, the tapping mechanism includes a flexible depth control unit and a tapping knife unit respectively connected to the control system, the tapping knife unit is connected to the flexible depth control unit, and the control system controls the operation of the flexible depth control unit according to the information feedback from the visual sensor and the laser sensor, and adjusts the position of the tapping knife unit through the flexible depth control unit to adjust the tapping depth.

[0023] In the above implementation process, through real-time monitoring and feedback from visual sensors and laser sensors, the control system can accurately control the operation of the flexible depth control unit, thereby adjusting the position and cutting depth of the tapping knife unit, which helps to ensure that each tapping operation can achieve the expected depth and effect. The design of the flexible depth control unit enables the tapping knife to maintain smooth and continuous movement during the cutting process, avoiding damage to the rubber tree caused by excessive cutting. At the same time, accurate tapping depth control also helps reduce the risk of damage to the rubber tree.

[0024] In some embodiments, the flexible depth control unit includes a mounting seat, an adjustment driver, a first slide, a second slide and an elastic member. The first slide and the second slide can be slidably mounted on the mounting seat respectively. The elastic member is connected between the first slide and the second slide. The adjustment driver drives the first slide to be connected. The tapping knife unit is installed on the second slide. The adjustment driver can drive the first slide to slide. The first slide can push the second slide to slide through the elastic member, thereby driving the tapping knife unit to slide to control the tapping depth.

[0025] In the above-mentioned implementation process, the precise control of the adjustment driver, combined with the flexible transmission of the elastic member, makes the adjustment of the rubber tapping depth more accurate, and meets different rubber tapping needs. Through the connection of the elastic member, the flexible control of the rubber tapping knife unit sliding is realized, so that the rubber tapping depth is more uniform, and the error and damage caused by hard contact are reduced. The presence of the elastic member can also play a role in protecting the rubber tapping knife. When encountering hard objects or abnormal conditions, the force of the rubber tapping knife can be reduced, and its service life can be extended. The structural design of the flexible depth control unit enables it to adapt to rubber trees with different postures and tree diameters, and improves the versatility and adaptability of the equipment.

[0026] In some embodiments, the adjustment driver includes a servo motor, a gear and a rack, the gear is connected to the output shaft of the servo motor, the rack is mounted on the first slide, and the rack is meshed with the gear.

[0027] In the above implementation process, the servo motor has the characteristics of high precision, high speed and high reliability, and can achieve accurate control of the tapping depth. The meshing relationship between the gear and the rack is stable, the transmission efficiency is high, and the problem of inaccurate tapping depth caused by transmission error is reduced.

[0028] In some embodiments, the elastic member includes a guide rod and a spring sleeved outside the guide rod, the guide rod is slidably connected to at least one of the first slide seat and the second slide seat, and two ends of the spring respectively abut the first slide seat and the second slide seat.

[0029] In the above implementation process, the guide rod serves as a support and guide structure for the spring, ensuring that the spring can be compressed or stretched in a predetermined direction when subjected to force, thereby ensuring that the buffering function of the elastic member is effectively exerted. The spring is sleeved outside the guide rod to transmit force and provide buffering. The two ends of the spring are respectively in contact with the first slide and the second slide, and the relative movement between the two slides is transmitted and adjusted through its elastic deformation.

[0030] In some embodiments, a limiting column is provided on the first slide seat, and a limiting baffle for cooperating with the limiting column is provided on the second slide seat. The limiting column and the limiting baffle cooperate to limit the elastic retraction and sliding distance of the second slide seat relative to the first slide seat.

[0031] In the above implementation process, driven by the servo motor, the first slide performs linear motion, and the second slide is pushed to slide elastically by elastic parts such as springs. When the second slide elastically shrinks to a certain distance relative to the first slide, the limit block will contact the limit column. At this time, due to the blocking effect of the limit column, the second slide cannot continue to slide in the same direction, thereby limiting the sliding distance of the second slide. The cooperation of the limit column and the limit block limits the sliding distance of the second slide, thereby improving the control accuracy of the rubber tapping depth. This limiting effect reduces the error and uncertainty caused by the excessive retraction and sliding of the second slide relative to the first slide. The cooperation of the limit column and the limit block can also play a role in protecting the equipment. When the second slide reaches a predetermined sliding distance, the limit block will contact the limit column and generate resistance, thereby preventing the problem of structural impact damage on the first slide and the second slide.

[0032] In some embodiments, the tapping mechanism also includes a multi-dimensional force sensor, and the tapping mechanism is connected to the robotic arm through the multi-dimensional force sensor. The multi-dimensional force sensor is used to monitor the relative force information between the tapping mechanism and the robotic arm in multiple dimensions and feed back to the control system.

[0033] In the above implementation process, the multi-dimensional force sensor can monitor the relative force information between the rubber tapping mechanism and the mechanical arm in multiple dimensions (such as the three directions of X, Y, and Z and the torque around these three axes). It is usually installed at the connection between the rubber tapping mechanism and the mechanical arm, and the force situation is converted into an electrical signal output through built-in sensing elements (such as strain gauges, capacitors, resistors, etc.). The multi-dimensional force sensor can sense the position and posture of the end of the mechanical arm, monitor the force between the rubber tapping mechanism and the rubber tree in real time, accurately adjust the strength and angle of the mechanical arm movement, avoid excessive force causing the rubber tapping knife unit to damage the rubber tree, and realize fine rubber tapping operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is a schematic diagram of the structure of the rubber tapping robot described in the embodiment of the present application;

[0036] Figure 2 This is a structural schematic diagram of the rubber tapping mechanism connected to the mechanical arm according to an embodiment of the present application;

[0037] Figure 3 This is a structural schematic diagram of the rubber tapping mechanism described in the embodiment of the present application;

[0038] Figure 4 for Figure 3 A schematic diagram of the structure from another perspective of the structure shown;

[0039] Figure 5 This is one of the structural schematic diagrams of the rubber tapping knife unit and the flexible depth control unit described in the embodiment of the present application;

[0040] Figure 6 for Figure 5 A schematic diagram of the structure from another perspective of the structure shown;

[0041] Figure 7 for Figure 5 Exploded view of the structure shown.

[0042] in,

[0043] 1. Robot body; 11. Leg-foot mobile chassis; 12. Main body; 13. Robotic arm; 131. Rubber tapping robot arm; 132. Holding and supporting robot arm; 2. Rubber tapping mechanism; 21. Laser sensor; 22. Visual sensor; 23. Multi-dimensional force sensor; 24. Flexible depth control unit; 241. Mounting seat; 2411. First guide rail; 2412. Second guide rail; 242. Adjustment driver; 2421. Servo motor; 2422. Gear; 2423. Rack; 243. Elastic member; 2431. Spring; 2432. Guide rod; 244. Limiting column; 245. First slide; 246. Second slide; 247. Limiting baffle; 25. Rubber tapping knife unit; 3. Holding and supporting mechanism. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0045] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] like Figure 1 As shown, the embodiment of the present application provides a rubber tapping robot, comprising:

[0047] The robot body 1 comprises a leg-foot mobile chassis 11, a main body 12 and a mechanical arm 13, wherein the leg-foot mobile chassis 11 is installed at the bottom of the main body 12, the mechanical arm 13 is installed at the side of the main body 12, and a control system is provided in the main body 12, and the control system is controlled and connected with the leg-foot mobile chassis 11 and the mechanical arm 13;

[0048] The rubber tapping mechanism 2 is installed at the free end of the mechanical arm 13, and the rubber tapping mechanism 2 is driven by the mechanical arm 13 to move and tap the rubber.

[0049] In the robot main body 1 structure, the leg-foot mobile chassis 11 is the key part of the robot's walking, which can be two-foot, four-foot, six-foot or more-foot, and can simulate the walking mode of people or animals. This design enables the robot to walk stably on complex terrain (such as mountain slope terrain), overcomes the walking difficulties of wheeled and tracked robots on these terrains, and does not need to lay tracks for them in advance. The mechanical arm 13 is installed on the side of the main body 12, and is used to drive the rubber tapping mechanism 2 to perform rubber tapping operations. The design of the mechanical arm 13 enables the rubber tapping mechanism 2 to accurately reach the position where rubber tapping is required. The main body 12, as the main body of the robot, is internally provided with a control system, and the control system is responsible for controlling the movement of the leg-foot mobile chassis 11 and the movement of the mechanical arm 13, thereby realizing the function of autonomous walking and automatic rubber tapping of the rubber tapping robot. When specifically set, the control end of the rubber tapping mechanism 2 can also be integrated into the control system, and the control system is uniformly coordinated and controlled to achieve more accurate rubber tapping operations.

[0050] In summary, the rubber tapping robot implemented in this application has beneficial effects:

[0051] Strong terrain adaptability and good flexibility: The design of the leg-foot mobile chassis 11 enables the robot to walk stably on complex terrain (especially mountain slope terrain). When facing complex terrain and obstacles, it can more easily adjust its posture and walking route to ensure the smooth progress of rubber tapping operations. This design overcomes the walking difficulties of wheeled and tracked robots on these terrains, and there is no need to lay tracks in advance, which greatly improves the terrain adaptability of the robot.

[0052] High precision of rubber tapping: The design of the mechanical arm 13 enables the rubber tapping mechanism 2 to accurately reach the position where rubber tapping is required, thereby ensuring the precision of the rubber tapping operation. This helps to improve the efficiency of rubber tapping and reduce the losses caused by improper rubber tapping.

[0053] Autonomous walking and automatic rubber tapping: The control system set inside the robot body 1 can control the movement of the leg-foot mobile chassis 11 and the movement of the mechanical arm 13, thereby realizing the autonomous walking and automatic rubber tapping functions of the rubber tapping robot. This greatly reduces the labor burden of rubber farmers and improves work efficiency.

[0054] High cost-effectiveness: Compared with the track-type rubber tapping robot, the rubber tapping robot of the embodiment of the present application does not need to lay and maintain tracks, thereby reducing costs. At the same time, the design of the leg-foot mobile chassis 11 also reduces machine failures and maintenance costs caused by complex terrain.

[0055] In some implementations, the control system includes a dynamic balance control module, and the center of gravity and support points of the robot body 1 are adjusted by the dynamic balance control module to maintain the balance of the robot body 1.

[0056] In the above implementation process, the dynamic balance control module can monitor the posture and position of the robot body 1 in real time, and maintain its balance by adjusting the center of gravity and support points of the robot, which helps the robot to remain stable in complex terrain and dynamic environments, and avoids failures or accidents caused by loss of balance. This enables the rubber tapping robot to better adapt to different terrains and operating environments. For example, in mountain slope terrain, the robot can adjust its posture more flexibly, maintain balance and successfully complete the task. At the same time, the improved stability of the robot means that the safety of the rubber tapping operation process has also been improved. The robot can reach the position where rubber tapping is required more accurately, improve the efficiency of rubber tapping, and reduce the losses caused by improper operation.

[0057] About the specific setting of dynamic balance control module, it is optional that it is equipped with sensors such as gyroscopes and accelerometers for real-time monitoring of the robot's posture and position changes. These sensors can sense the robot's tilt, rotation and other motion states, and transmit data to the control end of the dynamic balance control module. The control end of the dynamic balance control module is also preset with advanced control algorithms for processing the data transmitted by the sensors, and according to the algorithm, the force and torque required for adjusting the robot's center and support points are calculated. These algorithms can be designed based on principles such as PID control and fuzzy control to achieve accurate control effects. According to the force and torque calculated by the control algorithm, the dynamic balance control module will send instructions to the robot's actuator (such as the drive motor of the leg-foot mobile chassis 11) to adjust the robot's center and support points. The actuator will respond to these instructions and maintain the balance of the robot by adjusting the posture and position.

[0058] In some implementations, the control system includes a motion planning module, and the motion planning module plans a reasonable gait and walking path according to the walking requirements of the robot body 1 based on terrain information.

[0059] In the above-mentioned implementation process, the motion planning module can plan a reasonable gait and walking path according to the terrain information and the walking demand of the robot body 1, which helps the robot to cross complex terrain in the best way, reduce unnecessary walking and energy consumption, thereby improving walking efficiency. At the same time, the addition of the motion planning module makes the rubber tapping robot have stronger autonomy, and the robot can make autonomous decisions according to real-time terrain information and walking demand, select the best walking path and gait, thereby improving the intelligent level of the robot. Furthermore, through reasonable motion planning, the robot can avoid falling into dangerous terrain or colliding with other obstacles, which helps to improve the safety and reliability of the robot and ensure the smooth progress of the rubber tapping operation.

[0060] Regarding the specific settings of the motion planning module, the motion planning module first needs to obtain real-time terrain information. Optionally, this can be achieved by configuring sensors (such as laser radar, cameras, etc.) on the robot body 1. The sensors will scan the surrounding environment in real time and transmit the terrain information to the motion planning module for processing. The control end of the motion planning module is preset with advanced path planning algorithms. These algorithms can calculate the optimal walking path based on terrain information and walking requirements. The algorithm can use a combination of global path planning and local path planning to ensure the walking efficiency and safety of the robot in complex terrain. After determining the walking path, the motion planning module also needs to generate a reasonable gait, which includes determining the robot's step length, step frequency, leg lifting height and other parameters. At the same time, during the walking process, the motion planning module also needs to adjust the gait according to the real-time terrain information and walking requirements to ensure that the robot can walk stably and successfully complete the rubber tapping operation.

[0061] In some of these implementations, see Figure 2 The robotic arm 13 includes a holding and supporting robotic arm 132 and a rubber tapping robotic arm 131, the rubber tapping mechanism 2 is installed on the rubber tapping robotic arm 131, the holding and supporting robotic arm 132 is installed with a holding and supporting mechanism 3, and the holding and supporting mechanism 3 is used to hold the rubber tree tightly.

[0062] The holding mechanism 3 and the holding robot arm 132 are combined to hold the rubber tree tightly and provide a stable support point for the rubber tapping robot arm 131. The holding mechanism 3 and the holding robot arm 132 are usually designed as adjustable structures to adapt to rubber trees of different sizes and shapes. The holding mechanism 3 can achieve the holding action by hydraulic, pneumatic or electric means. During the operation, the holding robot arm 132 first holds the rubber tree tightly to provide a stable working platform for the rubber tapping robot arm 131, and the rubber tapping robot arm 131 performs precise rubber tapping operations through the rubber tapping mechanism 2 according to the preset rubber tapping trajectory and depth. The two work together to greatly improve the efficiency and accuracy of the rubber tapping operation.

[0063] In the above implementation process, the holding and supporting mechanical arm 132 provides a stable support point for the rubber tapping mechanical arm 131, so that the rubber tapping mechanical arm 131 can focus more on the rubber tapping operation without worrying about the interruption or error of the operation caused by unstable support, which greatly improves the operation efficiency and reduces the time wasted by repeatedly adjusting the support point. At the same time, the holding action of the holding and supporting mechanical arm 132 can ensure the stability of the rubber tree during the operation process, avoiding the rubber tapping error caused by the shaking of the rubber tree.

[0064] In some embodiments, the holding mechanism 3 includes a clamp and a force sensor, and the force sensor is used to monitor the clamping force of the clamp on the rubber tree, so that the clamp can adapt to adjust the clamping force on the rubber tree.

[0065] The clamp is the core component of the holding mechanism 3, which is used to directly clamp the rubber tree. Its design needs to ensure that the rubber tree can be stably held during the operation, while avoiding damage to the tree body. The clamp usually adopts an adjustable design to adapt to the rubber trees of different diameters. The clamp generally realizes the clamping action through its internal mechanical structure (such as spiral mechanism, connecting rod mechanism, etc.). The force sensor is used to monitor the clamping force of the rubber tree in real time, and transmits the data to the control system, and the control system controls the clamping force of the clamp according to the information feedback of the force sensor. When the force sensor detects that the clamping force is insufficient, the clamp will automatically adjust the clamping force to ensure stable clamping effect.

[0066] In the above implementation process, through real-time monitoring of the force sensor and automatic adjustment of the clamp, it can be ensured that the clamping force of the rubber tree is always kept within an appropriate range, which helps to improve the stability of the clamping and ensure that the robot will not shake or fall off due to unstable clamping during operation. In addition, the use of the force sensor enables the clamp to accurately control the clamping force, avoiding damage to the rubber tree caused by excessive clamping force, which is of great significance for protecting the rubber tree and extending its service life.

[0067] In some embodiments, the surface of the clamp for clamping the rubber tree is provided with a flexible material layer.

[0068] In the above implementation process, the flexible material layer can reduce the pressure and friction when the clamp is in direct contact with the rubber tree, and can reduce the pressure of the clamp on the rubber tree, thereby reducing the risk of damage to the bark, which is crucial for protecting the rubber tree and maintaining its healthy growth. In addition, the flexible material layer can increase the contact area and friction between the clamp and the rubber tree, so that the clamp can hold the rubber tree more stably during operation, which helps to reduce operation interruptions and errors caused by shaking or falling off.

[0069] In some embodiments, reference Figure 3-Figure 4The tapping mechanism 2 includes a visual sensor 22 and a laser sensor 21. The visual sensor 22 is used to capture image information of the rubber tree surface and feed it back to the control system, and the laser sensor 21 is used to measure the contour change information of the tapping line and feed it back to the control system.

[0070] Among them, the control system can control the tapping operation according to the information fed back by the visual sensor 22 and the laser sensor 21. The visual sensor 22 integrates a high-resolution camera and an advanced image processing algorithm, which can capture and analyze the image of the surface of the rubber tree trunk in real time, accurately identify the position of the tapping line and the starting point of tapping, ensure that each tapping can start from the best position, and improve the accuracy of the tapping operation. The laser sensor 21 is used to measure the contour changes of the tapping line in real time, including small bumps and tilt angles, and provide fine-tuning instructions for the movement trajectory and angle of the tapping knife to ensure that the tapping depth and thickness are consistent, and the tapping action is completed in accordance with the standard tapping operation procedures to avoid cutting the rubber tree.

[0071] In the above implementation process, the combined use of the visual sensor 22 and the laser sensor 21 enables the rubber tapping robot to more accurately identify the location of the tapping line, the starting point of the tapping, and the contour changes of the trunk surface, which helps to improve the work efficiency, reduce errors and waste, and improve the accuracy of the rubber tapping operation. The automated rubber tapping robot can reduce manual intervention and reduce labor costs. At the same time, since the robot can work continuously and stably, it can also improve the continuity and reliability of the rubber tapping operation.

[0072] In some embodiments, reference Figure 5 The rubber tapping mechanism 2 includes a flexible depth control unit 24 and a rubber tapping knife unit 25 which are respectively connected to the control system. The rubber tapping knife unit 25 is connected to the flexible depth control unit 24. The control system controls the operation of the flexible depth control unit 24 according to the information fed back by the visual sensor 22 and the laser sensor 21, and adjusts the position of the rubber tapping knife unit 25 through the flexible depth control unit 24 to adjust the rubber tapping depth.

[0073] The flexible depth control unit 24 is used to adjust the position of the rubber tapping knife unit 25 according to the command of the control system, so as to control the rubber tapping depth. The flexible depth control unit 24 is usually designed with flexible materials or deformable structures to ensure that it can maintain a smooth and continuous movement when adjusting the rubber tapping depth. It also contains a precise mechanical structure or drive device to achieve precise adjustment function. The rubber tapping knife unit 25 is the main component for performing rubber tapping operations. It is preferably an electric rubber tapping knife, and its blade is usually made of high-strength, wear-resistant materials to ensure a sharp cutting effect during long-term use.

[0074] In the above implementation process, through the real-time monitoring and feedback of the visual sensor 22 and the laser sensor 21, the control system can accurately control the operation of the flexible depth control unit 24, thereby adjusting the position and cutting depth of the rubber tapping knife unit 25, which helps to ensure that each rubber tapping operation can reach the expected depth and effect. The design of the flexible depth control unit 24 enables the rubber tapping knife to maintain a stable and continuous motion during the cutting process, avoiding the damage to the rubber tree caused by excessive cutting. At the same time, accurate rubber tapping depth control also helps to reduce the risk of rubber tree damage.

[0075] In some embodiments, reference Figure 5-Figure 7 The flexible depth control unit 24 includes a mounting seat 241, an adjustment driver 242, a first slide 245, a second slide 246 and an elastic member 243. The first slide 245 and the second slide 246 can be slidably mounted on the mounting seat 241 respectively. The elastic member 243 is connected between the first slide 245 and the second slide 246. The adjustment driver 242 drives the first slide 245 to be connected. The tapping knife unit 25 is installed on the second slide 246. The adjustment driver 242 can drive the first slide 245 to slide. The first slide 245 can push the second slide 246 to slide through the elastic member 243, thereby driving the tapping knife unit 25 to slide to control the tapping depth.

[0076] When the tapping depth needs to be controlled, the adjusting driver 242 is started to drive the first slide 245 to slide on the mounting seat 241. The sliding of the first slide 245 is transmitted to the second slide 246 through the elastic member 243, so that the second slide 246 slides and controls the tapping depth. Due to the presence of the elastic member 243, a certain flexibility and buffering effect are provided during the tapping process, making the tapping depth more uniform and reducing the error and damage caused by hard contact.

[0077] In the above-mentioned implementation process, the precise control of the adjustment driver 242, combined with the flexible transmission of the elastic member 243, makes the adjustment of the rubber tapping depth more accurate, meets different rubber tapping needs. Through the connection of the elastic member 243, the flexible control of the rubber tapping knife unit 25 sliding is realized, so that the rubber tapping depth is more uniform, reduces the error and damage caused by hard contact, and the existence of the elastic member 243 can also play the role of protecting the rubber tapping knife, when encountering hard objects or abnormal conditions, can reduce the force of the rubber tapping knife, extend its service life. The structural design of this flexible depth control unit 24 enables it to adapt to the rubber trees of different postures and tree diameters, improves the versatility and adaptability of equipment.

[0078] Optional, see Figure 7A first guide rail 2411 and a second guide rail 2412 are provided on the mounting seat 241 and are parallel to each other. The first slide seat 245 and the second slide seat 246 are slidably mounted on the first guide rail 2411 and the second guide rail 2412 respectively to guide the stable sliding of the first slide seat 245 and the second slide seat 246.

[0079] In some embodiments, the adjustment driver 242 includes a servo motor 2421 , a gear 2422 and a rack 2423 , the gear 2422 is connected to the output shaft of the servo motor 2421 , the rack 2423 is installed on the first slide 245 , and the rack 2423 is meshed with the gear 2422 .

[0080] During operation, the control system sends instructions to the servo motor 2421 to control its rotation angle and speed. The rotational motion of the servo motor 2421 is transmitted to the rack 2423 through the gear 2422. Due to the meshing relationship between the gear 2422 and the rack 2423, the rotational motion of the motor is converted into the linear motion of the rack 2423. The linear motion of the rack 2423 drives the first slide 245 to slide on the mounting seat 241. Since the first slide 245 and the second slide 246 are connected by the elastic member 243, the sliding of the first slide 245 will further push the sliding of the second slide 246, and the sliding of the second slide 246 drives the rubber tapping knife unit 25 to move, thereby realizing accurate control of the rubber tapping depth.

[0081] In the above implementation process, the servo motor 2421 has the characteristics of high precision, high speed and high reliability, and can realize accurate control of the tapping depth. The meshing relationship between the gear 2422 and the rack 2423 is stable, the transmission efficiency is high, and the problem of inaccurate tapping depth caused by transmission error is reduced.

[0082] In some embodiments, the elastic member 243 includes a guide rod 2432 and a spring 2431 sleeved outside the guide rod 2432, the guide rod 2432 is slidably connected to at least one of the first slide 245 and the second slide 246, and the two ends of the spring 2431 abut the first slide 245 and the second slide 246 respectively.

[0083] In the above implementation process, the guide rod 2432 serves as a support and guide structure for the spring 2431, ensuring that the spring 2431 can be compressed or stretched in a predetermined direction when subjected to force, thereby ensuring that the buffering function of the elastic member 243 is effectively exerted. The spring 2431 is sleeved outside the guide rod 2432, and plays the role of transmitting force and providing buffering. The two ends of the spring 2431 are respectively in contact with the first slide 245 and the second slide 246, and the relative movement between the two slides is transmitted and adjusted through its elastic deformation.

[0084] In some embodiments, a limiting column 244 is provided on the first slide 245, and a limiting baffle 247 for cooperating with the limiting column 244 is provided on the second slide 246. The limiting column 244 and the limiting baffle 247 cooperate to limit the elastic retraction sliding distance of the second slide 246 relative to the first slide 245.

[0085] In the above implementation process, driven by the servo motor 2421, the first slide 245 performs linear motion, and the elastic member 243 such as the spring 2431 pushes the second slide 246 to perform elastic sliding. When the second slide 246 elastically shrinks to a certain distance relative to the first slide 245, the limit stopper 247 will contact the limit column 244. At this time, due to the blocking effect of the limit column 244, the second slide 246 cannot continue to slide in the same direction, thereby limiting the sliding distance of the second slide 246. The cooperation between the limit column 244 and the limit stopper 247 limits the sliding distance of the second slide 246, thereby improving the control accuracy of the rubber tapping depth. This limiting effect reduces the error and uncertainty caused by the excessive retraction and sliding of the second slide 246 relative to the first slide 245. The cooperation between the limit column 244 and the limit baffle 247 can also protect the equipment. When the second slide 246 reaches a predetermined sliding distance, the limit baffle 247 will contact the limit column 244 and generate resistance, thereby preventing the structures on the first slide 245 and the second slide 246 from being damaged by collision.

[0086] In some embodiments, the rubber tapping mechanism 2 also includes a multi-dimensional force sensor 23, and the rubber tapping mechanism 2 is connected to the robotic arm 13 through the multi-dimensional force sensor 23. The multi-dimensional force sensor 23 is used to monitor the relative force information between the rubber tapping mechanism 2 and the robotic arm 13 in multiple dimensions and feed it back to the control system.

[0087] In the above-mentioned implementation process, the multi-dimensional force sensor 23 can monitor the relative force information of the rubber tapping mechanism 2 and the mechanical arm 13 in multiple dimensions (such as X, Y, Z three directions and the torque around these three axes). It is usually installed at the connection between the rubber tapping mechanism 2 and the mechanical arm 13, and the force situation is converted into an electrical signal output by a built-in sensing element (such as a strain gauge, a capacitor, a resistor, etc.). The multi-dimensional force sensor 23 can sense the position and posture of the end of the mechanical arm 13, monitor the force between the rubber tapping mechanism 2 and the rubber tree in real time, accurately adjust the intensity and angle of the movement of the mechanical arm 13, avoid excessive force to cause the rubber tapping knife unit 25 to damage the rubber tree, and realize fine rubber tapping operation.

[0088] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0089] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0090] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A rubber tapping robot, characterized in that: include: The robot body comprises a leg-foot mobile chassis, a main body and a mechanical arm, wherein the leg-foot mobile chassis is installed at the bottom of the main body, the mechanical arm is installed at the side of the main body, and a control system is arranged in the main body, and the control system is control-connected with the leg-foot mobile chassis and the mechanical arm; The rubber tapping mechanism is installed at the free end of the mechanical arm, and the rubber tapping mechanism is driven by the mechanical arm to move to tap the rubber.

2. The rubber tapping robot according to claim 1, characterized in that: The control system includes a dynamic balance control module, through which the center of gravity and supporting points of the robot body are adjusted to maintain the balance of the robot body.

3. The rubber tapping robot according to claim 1, characterized in that: The control system includes a motion planning module, and the motion planning module plans a reasonable gait and walking path according to the walking requirements of the robot body according to terrain information.

4. The rubber tapping robot according to claim 1, characterized in that: The robotic arm comprises a holding and supporting robotic arm and a rubber tapping robotic arm, the rubber tapping mechanism is installed on the rubber tapping robotic arm, the holding and supporting robotic arm is installed with a holding and supporting mechanism, and the holding and supporting mechanism is used to hold the rubber tree tightly.

5. The rubber tapping robot according to claim 4, characterized in that: The holding mechanism includes a clamp and a force sensor, wherein the force sensor is used to monitor the clamping force of the clamp on the rubber tree, so that the clamp can adapt to adjust the clamping force on the rubber tree.

6. The rubber tapping robot according to claim 5, characterized in that: A flexible material layer is provided on the surface of the clamp used for clamping the rubber tree.

7. The rubber tapping robot according to claim 1, characterized in that: The rubber tapping mechanism includes a visual sensor and a laser sensor. The visual sensor is used to capture image information of the surface of the rubber tree and feed it back to the control system, and the laser sensor is used to measure the contour change information of the tapping line and feed it back to the control system.

8. The rubber tapping robot according to claim 7, characterized in that: The rubber tapping mechanism includes a flexible depth control unit and a rubber tapping knife unit which are respectively connected to the control system. The rubber tapping knife unit is connected to the flexible depth control unit. The control system controls the operation of the flexible depth control unit according to the information fed back by the visual sensor and the laser sensor. The position of the rubber tapping knife unit is adjusted through the flexible depth control unit to adjust the rubber tapping depth.

9. The rubber tapping robot according to claim 8, characterized in that: The flexible depth control unit includes a mounting seat, an adjustment driver, a first slide, a second slide and an elastic member. The first slide and the second slide can be slidably mounted on the mounting seat respectively. The elastic member is connected between the first slide and the second slide. The adjustment driver drives the first slide, and the tapping knife unit is installed on the second slide. The adjustment driver can drive the first slide to slide. The first slide can push the second slide to slide through the elastic member, thereby driving the tapping knife unit to slide to control the tapping depth.

10. The rubber tapping robot according to claim 9, characterized in that: The adjustment driver comprises a servo motor, a gear and a rack, wherein the gear is connected to the output shaft of the servo motor, the rack is mounted on the first slide seat, and the rack is meshed with the gear.

11. The rubber tapping robot according to claim 9, characterized in that: The elastic member includes a guide rod and a spring sleeved outside the guide rod, the guide rod is slidably connected to at least one of the first slide seat and the second slide seat, and two ends of the spring abut against the first slide seat and the second slide seat respectively.

12. The rubber tapping robot according to claim 9, characterized in that: The first slide is provided with a limit column, and the second slide is provided with a limit block for cooperating with the limit column. The limit column and the limit block cooperate to limit the elastic retraction and sliding distance of the second slide relative to the first slide.

13. The rubber tapping robot according to claim 7, characterized in that: The rubber tapping mechanism also includes a multi-dimensional force sensor, and the rubber tapping mechanism is connected to the robotic arm through the multi-dimensional force sensor. The multi-dimensional force sensor is used to monitor the relative force information between the rubber tapping mechanism and the robotic arm in multiple dimensions and feed it back to the control system.

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